Autonomously generating a 3D map of unknown environment by using mobile robots equipped with LRF

Tsuyoshi Yokoya, Tsutomu Hasegawa, Ryo Kurazume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper proposes an exploration method for an automated 3D map generation of an unknown environment by using a group of robots equipped with LRF (laser range finder). The robots are composed of a parent robot measuring its environmental structure and two child robots being used as landmarks for localization of the parent robot. The method decides positions of the robots to generate the accurate map. We conducted experiment of the map generation of a hall whose size is 70[m] x 35[m] x 8[m]. The positional error in the map was less than 10[cm].

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages269-274
Number of pages6
DOIs
Publication statusPublished - Dec 1 2009
Event2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China
Duration: Dec 19 2009Dec 23 2009

Publication series

Name2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Other

Other2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
CountryChina
CityGuilin
Period12/19/0912/23/09

All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Biomaterials

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    Yokoya, T., Hasegawa, T., & Kurazume, R. (2009). Autonomously generating a 3D map of unknown environment by using mobile robots equipped with LRF. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 (pp. 269-274). [5420656] (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). https://doi.org/10.1109/ROBIO.2009.5420656